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  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="classPxArticulationReducedCoordinate-members.html">List of all members</a>  </div>
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<div class="title">PxArticulationReducedCoordinate Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span><div class="ingroups"><a class="el" href="group__physics.html">Physics</a></div></div>  </div>
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<p>a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver  
 <a href="classPxArticulationReducedCoordinate.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="PxArticulationReducedCoordinate_8h_source.html">PxArticulationReducedCoordinate.h</a>&gt;</code></p>
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Inheritance diagram for PxArticulationReducedCoordinate:</div>
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<area shape="rect" id="node2" href="classPxArticulationBase.html" title="a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver ..." alt="" coords="47,80,180,107"/>
<area shape="rect" id="node3" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection. " alt="" coords="79,5,147,32"/>
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Collaboration diagram for PxArticulationReducedCoordinate:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a15d00fc95ae61c2906977453e7597d9b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a15d00fc95ae61c2906977453e7597d9b">release</a> ()=0</td></tr>
<tr class="memdesc:a15d00fc95ae61c2906977453e7597d9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Releases the <a class="el" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection. ">PxBase</a> instance, please check documentation of release in derived class.  <a href="#a15d00fc95ae61c2906977453e7597d9b">More...</a><br /></td></tr>
<tr class="separator:a15d00fc95ae61c2906977453e7597d9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab155a21325dd588b7e354d3a5b1ef564"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#ab155a21325dd588b7e354d3a5b1ef564">setArticulationFlags</a> (<a class="el" href="PxSolverDefs_8h.html#a40a321fce7bcb9669d32fca769d2958a">PxArticulationFlags</a> <a class="el" href="PxConstraintDesc_8h.html#acfdd81caa30ceb0af5fafb4064b1bc67">flags</a>)=0</td></tr>
<tr class="memdesc:ab155a21325dd588b7e354d3a5b1ef564"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets flags on the articulation.  <a href="#ab155a21325dd588b7e354d3a5b1ef564">More...</a><br /></td></tr>
<tr class="separator:ab155a21325dd588b7e354d3a5b1ef564"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aea7152a77f9446960d65359e482595c4"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#aea7152a77f9446960d65359e482595c4">setArticulationFlag</a> (<a class="el" href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609">PxArticulationFlag::Enum</a> flag, bool value)=0</td></tr>
<tr class="memdesc:aea7152a77f9446960d65359e482595c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Raises or clears a flag on the articulation.  <a href="#aea7152a77f9446960d65359e482595c4">More...</a><br /></td></tr>
<tr class="separator:aea7152a77f9446960d65359e482595c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3e8a26a6e87d34c31441d766b0d6a153"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="PxSolverDefs_8h.html#a40a321fce7bcb9669d32fca769d2958a">PxArticulationFlags</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a3e8a26a6e87d34c31441d766b0d6a153">getArticulationFlags</a> () const =0</td></tr>
<tr class="memdesc:a3e8a26a6e87d34c31441d766b0d6a153"><td class="mdescLeft">&#160;</td><td class="mdescRight">return PxArticulationFlags  <a href="#a3e8a26a6e87d34c31441d766b0d6a153">More...</a><br /></td></tr>
<tr class="separator:a3e8a26a6e87d34c31441d766b0d6a153"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d0ed61a1f9a2b2cd18ced0cf9122355"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a4d0ed61a1f9a2b2cd18ced0cf9122355">getDofs</a> () const =0</td></tr>
<tr class="memdesc:a4d0ed61a1f9a2b2cd18ced0cf9122355"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the total Dofs of the articulation  <a href="#a4d0ed61a1f9a2b2cd18ced0cf9122355">More...</a><br /></td></tr>
<tr class="separator:a4d0ed61a1f9a2b2cd18ced0cf9122355"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a99f7f83876a3414eb386c83e173f9364"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a99f7f83876a3414eb386c83e173f9364">createCache</a> () const =0</td></tr>
<tr class="memdesc:a99f7f83876a3414eb386c83e173f9364"><td class="mdescLeft">&#160;</td><td class="mdescRight">create an articulation cache  <a href="#a99f7f83876a3414eb386c83e173f9364">More...</a><br /></td></tr>
<tr class="separator:a99f7f83876a3414eb386c83e173f9364"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a86107c6d84d3132b6a46bb9b2b48666e"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a86107c6d84d3132b6a46bb9b2b48666e">getCacheDataSize</a> () const =0</td></tr>
<tr class="memdesc:a86107c6d84d3132b6a46bb9b2b48666e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the size of the articulation cache.  <a href="#a86107c6d84d3132b6a46bb9b2b48666e">More...</a><br /></td></tr>
<tr class="separator:a86107c6d84d3132b6a46bb9b2b48666e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a919526ace70d5aaa4fb34ad0fcc98fd0"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a919526ace70d5aaa4fb34ad0fcc98fd0">zeroCache</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache)=0</td></tr>
<tr class="memdesc:a919526ace70d5aaa4fb34ad0fcc98fd0"><td class="mdescLeft">&#160;</td><td class="mdescRight">zero all data in the articulation cache beside the cache version  <a href="#a919526ace70d5aaa4fb34ad0fcc98fd0">More...</a><br /></td></tr>
<tr class="separator:a919526ace70d5aaa4fb34ad0fcc98fd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab14e3d8440c6dc754fa3318a7c91991d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#ab14e3d8440c6dc754fa3318a7c91991d">applyCache</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache, const <a class="el" href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a">PxArticulationCacheFlags</a> flag, bool autowake=true)=0</td></tr>
<tr class="memdesc:ab14e3d8440c6dc754fa3318a7c91991d"><td class="mdescLeft">&#160;</td><td class="mdescRight">apply the user defined data in the cache to the articulation system  <a href="#ab14e3d8440c6dc754fa3318a7c91991d">More...</a><br /></td></tr>
<tr class="separator:ab14e3d8440c6dc754fa3318a7c91991d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a10773e54bc023d0a4c6627c363fe1b23"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a10773e54bc023d0a4c6627c363fe1b23">copyInternalStateToCache</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache, const <a class="el" href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a">PxArticulationCacheFlags</a> flag) const =0</td></tr>
<tr class="memdesc:a10773e54bc023d0a4c6627c363fe1b23"><td class="mdescLeft">&#160;</td><td class="mdescRight">copy the internal data of the articulation to the cache  <a href="#a10773e54bc023d0a4c6627c363fe1b23">More...</a><br /></td></tr>
<tr class="separator:a10773e54bc023d0a4c6627c363fe1b23"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3b3c188ffd64c4ba7cfd7508efd63bf"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#ae3b3c188ffd64c4ba7cfd7508efd63bf">releaseCache</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache) const =0</td></tr>
<tr class="memdesc:ae3b3c188ffd64c4ba7cfd7508efd63bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">release an articulation cache  <a href="#ae3b3c188ffd64c4ba7cfd7508efd63bf">More...</a><br /></td></tr>
<tr class="separator:ae3b3c188ffd64c4ba7cfd7508efd63bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32973e41c51f9dd6ed0168c401d620d7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a32973e41c51f9dd6ed0168c401d620d7">packJointData</a> (const PxReal *maximum, PxReal *reduced) const =0</td></tr>
<tr class="memdesc:a32973e41c51f9dd6ed0168c401d620d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">reduce the maximum data format to the reduced internal data  <a href="#a32973e41c51f9dd6ed0168c401d620d7">More...</a><br /></td></tr>
<tr class="separator:a32973e41c51f9dd6ed0168c401d620d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a10d36a5ac6bb414b2240774cabdc4695"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a10d36a5ac6bb414b2240774cabdc4695">unpackJointData</a> (const PxReal *reduced, PxReal *maximum) const =0</td></tr>
<tr class="memdesc:a10d36a5ac6bb414b2240774cabdc4695"><td class="mdescLeft">&#160;</td><td class="mdescRight">turn the reduced internal data to maximum joint data format  <a href="#a10d36a5ac6bb414b2240774cabdc4695">More...</a><br /></td></tr>
<tr class="separator:a10d36a5ac6bb414b2240774cabdc4695"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe5b98d8b80aa4781ad1d5e9baffad25"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25">commonInit</a> () const =0</td></tr>
<tr class="memdesc:abe5b98d8b80aa4781ad1d5e9baffad25"><td class="mdescLeft">&#160;</td><td class="mdescRight">initialize all the common data for inverse dynamics  <a href="#abe5b98d8b80aa4781ad1d5e9baffad25">More...</a><br /></td></tr>
<tr class="separator:abe5b98d8b80aa4781ad1d5e9baffad25"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8b5217bd48e6d1ccc8ba3e495c66df7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#af8b5217bd48e6d1ccc8ba3e495c66df7">computeGeneralizedGravityForce</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache) const =0</td></tr>
<tr class="memdesc:af8b5217bd48e6d1ccc8ba3e495c66df7"><td class="mdescLeft">&#160;</td><td class="mdescRight">determine the statically balance of the joint force of gravity for entire articulation. External force, joint velocity and joint acceleration are set to zero, the joint force returned will be purely determined by gravity.  <a href="#af8b5217bd48e6d1ccc8ba3e495c66df7">More...</a><br /></td></tr>
<tr class="separator:af8b5217bd48e6d1ccc8ba3e495c66df7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af1947172f99feef066872b12d675d046"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#af1947172f99feef066872b12d675d046">computeCoriolisAndCentrifugalForce</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache) const =0</td></tr>
<tr class="memdesc:af1947172f99feef066872b12d675d046"><td class="mdescLeft">&#160;</td><td class="mdescRight">determine coriolise and centrifugal force. External force, gravity and joint acceleration are set to zero, the joint force return will be coriolise and centrifugal force for each joint.  <a href="#af1947172f99feef066872b12d675d046">More...</a><br /></td></tr>
<tr class="separator:af1947172f99feef066872b12d675d046"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95e6f19bc92d7003e4d735a26b6ebb46"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a95e6f19bc92d7003e4d735a26b6ebb46">computeGeneralizedExternalForce</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache) const =0</td></tr>
<tr class="memdesc:a95e6f19bc92d7003e4d735a26b6ebb46"><td class="mdescLeft">&#160;</td><td class="mdescRight">determine joint force change caused by external force. Gravity, joint acceleration and joint velocity are all set to zero.  <a href="#a95e6f19bc92d7003e4d735a26b6ebb46">More...</a><br /></td></tr>
<tr class="separator:a95e6f19bc92d7003e4d735a26b6ebb46"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc82b045f2afb76484ea967515c01067"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#afc82b045f2afb76484ea967515c01067">computeJointAcceleration</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache) const =0</td></tr>
<tr class="memdesc:afc82b045f2afb76484ea967515c01067"><td class="mdescLeft">&#160;</td><td class="mdescRight">determine the joint acceleration for each joint This is purely calculates the change in joint acceleration due to change in the joint force  <a href="#afc82b045f2afb76484ea967515c01067">More...</a><br /></td></tr>
<tr class="separator:afc82b045f2afb76484ea967515c01067"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a408e219bfac920e7cf527c6a7c972674"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a408e219bfac920e7cf527c6a7c972674">computeJointForce</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache) const =0</td></tr>
<tr class="memdesc:a408e219bfac920e7cf527c6a7c972674"><td class="mdescLeft">&#160;</td><td class="mdescRight">determine the joint force This is purely calculates the change in joint force due to change in the joint acceleration This means gravity and joint velocity will be zero  <a href="#a408e219bfac920e7cf527c6a7c972674">More...</a><br /></td></tr>
<tr class="separator:a408e219bfac920e7cf527c6a7c972674"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08a58ac2a98d339c0fcab0e69f6761e0"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a08a58ac2a98d339c0fcab0e69f6761e0">computeDenseJacobian</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache, <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> &amp;nRows, <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> &amp;nCols) const =0</td></tr>
<tr class="memdesc:a08a58ac2a98d339c0fcab0e69f6761e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the dense Jacobian for the entire articulation in world space  <a href="#a08a58ac2a98d339c0fcab0e69f6761e0">More...</a><br /></td></tr>
<tr class="separator:a08a58ac2a98d339c0fcab0e69f6761e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0eb36b4e092c322893c811f1e7c85b4d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a0eb36b4e092c322893c811f1e7c85b4d">computeCoefficientMatrix</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache) const =0</td></tr>
<tr class="memdesc:a0eb36b4e092c322893c811f1e7c85b4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the coefficient matrix for contact force.  <a href="#a0eb36b4e092c322893c811f1e7c85b4d">More...</a><br /></td></tr>
<tr class="separator:a0eb36b4e092c322893c811f1e7c85b4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06a554a20844b28a9251e60ca69ebac5"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a06a554a20844b28a9251e60ca69ebac5">computeLambda</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache, <a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;initialState, const PxReal *const jointTorque, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> maxIter) const =0</td></tr>
<tr class="memdesc:a06a554a20844b28a9251e60ca69ebac5"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the lambda value when the test impulse is 1  <a href="#a06a554a20844b28a9251e60ca69ebac5">More...</a><br /></td></tr>
<tr class="separator:a06a554a20844b28a9251e60ca69ebac5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a92e7a37bc7b058364398265b80996607"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a92e7a37bc7b058364398265b80996607">computeGeneralizedMassMatrix</a> (<a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;cache) const =0</td></tr>
<tr class="memdesc:a92e7a37bc7b058364398265b80996607"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the joint-space inertia matrix  <a href="#a92e7a37bc7b058364398265b80996607">More...</a><br /></td></tr>
<tr class="separator:a92e7a37bc7b058364398265b80996607"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0d9eeb50991fab399d0d7dbe756c1106"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a0d9eeb50991fab399d0d7dbe756c1106">addLoopJoint</a> (<a class="el" href="classPxJoint.html">PxJoint</a> *joint)=0</td></tr>
<tr class="memdesc:a0d9eeb50991fab399d0d7dbe756c1106"><td class="mdescLeft">&#160;</td><td class="mdescRight">add loop joint to the articulation system for inverse dynamic  <a href="#a0d9eeb50991fab399d0d7dbe756c1106">More...</a><br /></td></tr>
<tr class="separator:a0d9eeb50991fab399d0d7dbe756c1106"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a024c2e5000ad1033a868a73b6a025c03"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a024c2e5000ad1033a868a73b6a025c03">removeLoopJoint</a> (<a class="el" href="classPxJoint.html">PxJoint</a> *joint)=0</td></tr>
<tr class="memdesc:a024c2e5000ad1033a868a73b6a025c03"><td class="mdescLeft">&#160;</td><td class="mdescRight">remove loop joint from the articulation system  <a href="#a024c2e5000ad1033a868a73b6a025c03">More...</a><br /></td></tr>
<tr class="separator:a024c2e5000ad1033a868a73b6a025c03"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa89014cf296753fd9ddffbd62ef46c4c"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#aa89014cf296753fd9ddffbd62ef46c4c">getNbLoopJoints</a> () const =0</td></tr>
<tr class="memdesc:aa89014cf296753fd9ddffbd62ef46c4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the number of loop joints in the articulation  <a href="#aa89014cf296753fd9ddffbd62ef46c4c">More...</a><br /></td></tr>
<tr class="separator:aa89014cf296753fd9ddffbd62ef46c4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a611783b278756d562f4dfe0626af18"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a5a611783b278756d562f4dfe0626af18">getLoopJoints</a> (<a class="el" href="classPxJoint.html">PxJoint</a> **userBuffer, <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> bufferSize, <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> startIndex=0) const =0</td></tr>
<tr class="memdesc:a5a611783b278756d562f4dfe0626af18"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the set of loop constraints in the articulation  <a href="#a5a611783b278756d562f4dfe0626af18">More...</a><br /></td></tr>
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<tr class="memitem:a54da9e7775e8b619d5172039213beaff"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a54da9e7775e8b619d5172039213beaff">getCoefficientMatrixSize</a> () const =0</td></tr>
<tr class="memdesc:a54da9e7775e8b619d5172039213beaff"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the required size of coeffient matrix in the articulation. The coefficient matrix is number of constraint(loop joints) by total dofs. Constraint Torque = transpose(K) * lambda(). Lambda is a vector of number of constraints  <a href="#a54da9e7775e8b619d5172039213beaff">More...</a><br /></td></tr>
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<tr class="memitem:a2d067a41dc5bcbbdbf9a298d9064b310"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a2d067a41dc5bcbbdbf9a298d9064b310">teleportRootLink</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &amp;pose, bool autowake)=0</td></tr>
<tr class="memdesc:a2d067a41dc5bcbbdbf9a298d9064b310"><td class="mdescLeft">&#160;</td><td class="mdescRight">teleport root link to a new location  <a href="#a2d067a41dc5bcbbdbf9a298d9064b310">More...</a><br /></td></tr>
<tr class="separator:a2d067a41dc5bcbbdbf9a298d9064b310"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4520151744be7de9835c9f90291468c3"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structPxSpatialVelocity.html">PxSpatialVelocity</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a4520151744be7de9835c9f90291468c3">getLinkVelocity</a> (const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> linkId)=0</td></tr>
<tr class="memdesc:a4520151744be7de9835c9f90291468c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the link velocity in world space with the associated low-level link index(getLinkIndex()).  <a href="#a4520151744be7de9835c9f90291468c3">More...</a><br /></td></tr>
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<tr class="memitem:ab51ab4c2ab36f1b409a1aa0468f0fe71"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structPxSpatialVelocity.html">PxSpatialVelocity</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#ab51ab4c2ab36f1b409a1aa0468f0fe71">getLinkAcceleration</a> (const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> linkId)=0</td></tr>
<tr class="memdesc:ab51ab4c2ab36f1b409a1aa0468f0fe71"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the link acceleration in world space with the associated low-level link index(getLinkIndex())  <a href="#ab51ab4c2ab36f1b409a1aa0468f0fe71">More...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classPxArticulationBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classPxArticulationBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classPxArticulationBase.html">PxArticulationBase</a></td></tr>
<tr class="memitem:af760fbc18ace5571c97b7da64c5fbe7c inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxScene.html">PxScene</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#af760fbc18ace5571c97b7da64c5fbe7c">getScene</a> () const =0</td></tr>
<tr class="memdesc:af760fbc18ace5571c97b7da64c5fbe7c inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves the scene which this articulation belongs to.  <a href="classPxArticulationBase.html#af760fbc18ace5571c97b7da64c5fbe7c">More...</a><br /></td></tr>
<tr class="separator:af760fbc18ace5571c97b7da64c5fbe7c inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8059735ba075c0839c4ebfeab34906dc inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a8059735ba075c0839c4ebfeab34906dc">setSolverIterationCounts</a> (<a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> minPositionIters, <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> minVelocityIters=1)=0</td></tr>
<tr class="memdesc:a8059735ba075c0839c4ebfeab34906dc inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the solver iteration counts for the articulation.  <a href="classPxArticulationBase.html#a8059735ba075c0839c4ebfeab34906dc">More...</a><br /></td></tr>
<tr class="separator:a8059735ba075c0839c4ebfeab34906dc inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae292db93f6052f91036b3bbf56286739 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#ae292db93f6052f91036b3bbf56286739">getSolverIterationCounts</a> (<a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> &amp;minPositionIters, <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> &amp;minVelocityIters) const =0</td></tr>
<tr class="memdesc:ae292db93f6052f91036b3bbf56286739 inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves the solver iteration counts.  <a href="classPxArticulationBase.html#ae292db93f6052f91036b3bbf56286739">More...</a><br /></td></tr>
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<tr class="memitem:aa4689e7adf28a83f73301ea4eec0ca98 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#aa4689e7adf28a83f73301ea4eec0ca98">isSleeping</a> () const =0</td></tr>
<tr class="memdesc:aa4689e7adf28a83f73301ea4eec0ca98 inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if this articulation is sleeping.  <a href="classPxArticulationBase.html#aa4689e7adf28a83f73301ea4eec0ca98">More...</a><br /></td></tr>
<tr class="separator:aa4689e7adf28a83f73301ea4eec0ca98 inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae9b8704f26ec7e60582774d9a38ef6b inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#aae9b8704f26ec7e60582774d9a38ef6b">setSleepThreshold</a> (PxReal threshold)=0</td></tr>
<tr class="memdesc:aae9b8704f26ec7e60582774d9a38ef6b inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the mass-normalized energy threshold below which an articulation may go to sleep.  <a href="classPxArticulationBase.html#aae9b8704f26ec7e60582774d9a38ef6b">More...</a><br /></td></tr>
<tr class="separator:aae9b8704f26ec7e60582774d9a38ef6b inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27983cb67e45e167edc2c698a2c125a5 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a27983cb67e45e167edc2c698a2c125a5">getSleepThreshold</a> () const =0</td></tr>
<tr class="memdesc:a27983cb67e45e167edc2c698a2c125a5 inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the mass-normalized energy below which an articulation may go to sleep.  <a href="classPxArticulationBase.html#a27983cb67e45e167edc2c698a2c125a5">More...</a><br /></td></tr>
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<tr class="memitem:a1cf09f7f818b312205a29fb8e7f39f7f inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a1cf09f7f818b312205a29fb8e7f39f7f">setStabilizationThreshold</a> (PxReal threshold)=0</td></tr>
<tr class="memdesc:a1cf09f7f818b312205a29fb8e7f39f7f inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the mass-normalized kinetic energy threshold below which an articulation may participate in stabilization.  <a href="classPxArticulationBase.html#a1cf09f7f818b312205a29fb8e7f39f7f">More...</a><br /></td></tr>
<tr class="separator:a1cf09f7f818b312205a29fb8e7f39f7f inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c460c0dc44c8170b0b494c38c13d1dc inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a3c460c0dc44c8170b0b494c38c13d1dc">getStabilizationThreshold</a> () const =0</td></tr>
<tr class="memdesc:a3c460c0dc44c8170b0b494c38c13d1dc inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the mass-normalized kinetic energy below which an articulation may participate in stabilization.  <a href="classPxArticulationBase.html#a3c460c0dc44c8170b0b494c38c13d1dc">More...</a><br /></td></tr>
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<tr class="memitem:a8a556ddf37be3668fa9d1202db6ae48e inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a8a556ddf37be3668fa9d1202db6ae48e">setWakeCounter</a> (PxReal wakeCounterValue)=0</td></tr>
<tr class="memdesc:a8a556ddf37be3668fa9d1202db6ae48e inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the wake counter for the articulation.  <a href="classPxArticulationBase.html#a8a556ddf37be3668fa9d1202db6ae48e">More...</a><br /></td></tr>
<tr class="separator:a8a556ddf37be3668fa9d1202db6ae48e inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb872fa8ecea5c1bc226a8e4ba0b2256 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#afb872fa8ecea5c1bc226a8e4ba0b2256">getWakeCounter</a> () const =0</td></tr>
<tr class="memdesc:afb872fa8ecea5c1bc226a8e4ba0b2256 inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the wake counter of the articulation.  <a href="classPxArticulationBase.html#afb872fa8ecea5c1bc226a8e4ba0b2256">More...</a><br /></td></tr>
<tr class="separator:afb872fa8ecea5c1bc226a8e4ba0b2256 inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a236592b36cced8478b3e4385c54007af inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a236592b36cced8478b3e4385c54007af">wakeUp</a> ()=0</td></tr>
<tr class="memdesc:a236592b36cced8478b3e4385c54007af inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Wakes up the articulation if it is sleeping.  <a href="classPxArticulationBase.html#a236592b36cced8478b3e4385c54007af">More...</a><br /></td></tr>
<tr class="separator:a236592b36cced8478b3e4385c54007af inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91d189e3561c992ea46f9d8d5aae60cc inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a91d189e3561c992ea46f9d8d5aae60cc">putToSleep</a> ()=0</td></tr>
<tr class="memdesc:a91d189e3561c992ea46f9d8d5aae60cc inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Forces the articulation to sleep.  <a href="classPxArticulationBase.html#a91d189e3561c992ea46f9d8d5aae60cc">More...</a><br /></td></tr>
<tr class="separator:a91d189e3561c992ea46f9d8d5aae60cc inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91b5f47213dc7bff2250f4fe6035fbdc inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a91b5f47213dc7bff2250f4fe6035fbdc">createLink</a> (<a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> *parent, const <a class="el" href="classPxTransform.html">PxTransform</a> &amp;pose)=0</td></tr>
<tr class="memdesc:a91b5f47213dc7bff2250f4fe6035fbdc inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">adds a link to the articulation with default attribute values.  <a href="classPxArticulationBase.html#a91b5f47213dc7bff2250f4fe6035fbdc">More...</a><br /></td></tr>
<tr class="separator:a91b5f47213dc7bff2250f4fe6035fbdc inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1684813dd10ffd15630b9a94bfc84c7 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#ae1684813dd10ffd15630b9a94bfc84c7">getNbLinks</a> () const =0</td></tr>
<tr class="memdesc:ae1684813dd10ffd15630b9a94bfc84c7 inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the number of links in the articulation  <a href="classPxArticulationBase.html#ae1684813dd10ffd15630b9a94bfc84c7">More...</a><br /></td></tr>
<tr class="separator:ae1684813dd10ffd15630b9a94bfc84c7 inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03f24f5c1efdf092602ee6e689827133 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a03f24f5c1efdf092602ee6e689827133">getLinks</a> (<a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> **userBuffer, <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> bufferSize, <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> startIndex=0) const =0</td></tr>
<tr class="memdesc:a03f24f5c1efdf092602ee6e689827133 inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the set of links in the articulation  <a href="classPxArticulationBase.html#a03f24f5c1efdf092602ee6e689827133">More...</a><br /></td></tr>
<tr class="separator:a03f24f5c1efdf092602ee6e689827133 inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c5af081a9ec2c7f1e2a828d3a969900 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a1c5af081a9ec2c7f1e2a828d3a969900">setName</a> (const char *name)=0</td></tr>
<tr class="memdesc:a1c5af081a9ec2c7f1e2a828d3a969900 inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets a name string for the object that can be retrieved with <a class="el" href="classPxArticulationBase.html#abad70eeaf8b979d399639339290c217c" title="Retrieves the name string set with setName(). ">getName()</a>.  <a href="classPxArticulationBase.html#a1c5af081a9ec2c7f1e2a828d3a969900">More...</a><br /></td></tr>
<tr class="separator:a1c5af081a9ec2c7f1e2a828d3a969900 inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abad70eeaf8b979d399639339290c217c inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#abad70eeaf8b979d399639339290c217c">getName</a> () const =0</td></tr>
<tr class="memdesc:abad70eeaf8b979d399639339290c217c inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves the name string set with <a class="el" href="classPxArticulationBase.html#a1c5af081a9ec2c7f1e2a828d3a969900" title="Sets a name string for the object that can be retrieved with getName(). ">setName()</a>.  <a href="classPxArticulationBase.html#abad70eeaf8b979d399639339290c217c">More...</a><br /></td></tr>
<tr class="separator:abad70eeaf8b979d399639339290c217c inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77173436aa4210cfa9f29e33dce66d1b inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxBounds3.html">PxBounds3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a77173436aa4210cfa9f29e33dce66d1b">getWorldBounds</a> (float inflation=1.01f) const =0</td></tr>
<tr class="memdesc:a77173436aa4210cfa9f29e33dce66d1b inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves the axis aligned bounding box enclosing the articulation.  <a href="classPxArticulationBase.html#a77173436aa4210cfa9f29e33dce66d1b">More...</a><br /></td></tr>
<tr class="separator:a77173436aa4210cfa9f29e33dce66d1b inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9242439cf2029279f6301d0d0dd51f5f inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxAggregate.html">PxAggregate</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a9242439cf2029279f6301d0d0dd51f5f">getAggregate</a> () const =0</td></tr>
<tr class="memdesc:a9242439cf2029279f6301d0d0dd51f5f inherit pub_methods_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieves the aggregate the articulation might be a part of.  <a href="classPxArticulationBase.html#a9242439cf2029279f6301d0d0dd51f5f">More...</a><br /></td></tr>
<tr class="separator:a9242439cf2029279f6301d0d0dd51f5f inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5dfdf6a47b558607d7f2a3d008de34fa inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual PxArticulationImpl *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a5dfdf6a47b558607d7f2a3d008de34fa">getImpl</a> ()=0</td></tr>
<tr class="separator:a5dfdf6a47b558607d7f2a3d008de34fa inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a92f5205563e2476ace6f1c0eff22de51 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual const PxArticulationImpl *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a92f5205563e2476ace6f1c0eff22de51">getImpl</a> () const =0</td></tr>
<tr class="separator:a92f5205563e2476ace6f1c0eff22de51 inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6fe7170f2077b283b7da5dfb23b25ba0 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a6fe7170f2077b283b7da5dfb23b25ba0">~PxArticulationBase</a> ()</td></tr>
<tr class="separator:a6fe7170f2077b283b7da5dfb23b25ba0 inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5778c701bdf495e8563828927a68aa05 inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classPxArticulationJointBase.html">PxArticulationJointBase</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a5778c701bdf495e8563828927a68aa05">createArticulationJoint</a> (<a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> &amp;parent, const <a class="el" href="classPxTransform.html">PxTransform</a> &amp;parentFrame, <a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> &amp;child, const <a class="el" href="classPxTransform.html">PxTransform</a> &amp;childFrame)=0</td></tr>
<tr class="separator:a5778c701bdf495e8563828927a68aa05 inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaaa9cfef0b929c0bbe4b6fa8811249fd inherit pub_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#aaaa9cfef0b929c0bbe4b6fa8811249fd">releaseArticulationJoint</a> (<a class="el" href="classPxArticulationJointBase.html">PxArticulationJointBase</a> *joint)=0</td></tr>
<tr class="separator:aaaa9cfef0b929c0bbe4b6fa8811249fd inherit pub_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classPxBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classPxBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classPxBase.html">PxBase</a></td></tr>
<tr class="memitem:a67fe206d8897ddce896c371ac8d789a9 inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top">virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a67fe206d8897ddce896c371ac8d789a9">getConcreteTypeName</a> () const =0</td></tr>
<tr class="memdesc:a67fe206d8897ddce896c371ac8d789a9 inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns string name of dynamic type.  <a href="classPxBase.html#a67fe206d8897ddce896c371ac8d789a9">More...</a><br /></td></tr>
<tr class="separator:a67fe206d8897ddce896c371ac8d789a9 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bc720adef86ea68bfb5845f0e104d23 inherit pub_methods_classPxBase"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a4bc720adef86ea68bfb5845f0e104d23 inherit pub_methods_classPxBase"><td class="memTemplItemLeft" align="right" valign="top">T *&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classPxBase.html#a4bc720adef86ea68bfb5845f0e104d23">is</a> ()</td></tr>
<tr class="separator:a4bc720adef86ea68bfb5845f0e104d23 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85aa50ac0e5670a2be64411fea62b5e3 inherit pub_methods_classPxBase"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a85aa50ac0e5670a2be64411fea62b5e3 inherit pub_methods_classPxBase"><td class="memTemplItemLeft" align="right" valign="top">const T *&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classPxBase.html#a85aa50ac0e5670a2be64411fea62b5e3">is</a> () const</td></tr>
<tr class="separator:a85aa50ac0e5670a2be64411fea62b5e3 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4e0691a08e49631dc60014d49c7585f inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#ab4e0691a08e49631dc60014d49c7585f">getConcreteType</a> () const</td></tr>
<tr class="memdesc:ab4e0691a08e49631dc60014d49c7585f inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns concrete type of object.  <a href="classPxBase.html#ab4e0691a08e49631dc60014d49c7585f">More...</a><br /></td></tr>
<tr class="separator:ab4e0691a08e49631dc60014d49c7585f inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1dd20bb574075df904e1878f2e771ef9 inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a1dd20bb574075df904e1878f2e771ef9">setBaseFlag</a> (<a class="el" href="structPxBaseFlag.html#ac258de0c7adaa37f81b6ab1b0c86a6ee">PxBaseFlag::Enum</a> flag, bool value)</td></tr>
<tr class="memdesc:a1dd20bb574075df904e1878f2e771ef9 inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set <a class="el" href="structPxBaseFlag.html" title="Flags for PxBase. ">PxBaseFlag</a>.  <a href="classPxBase.html#a1dd20bb574075df904e1878f2e771ef9">More...</a><br /></td></tr>
<tr class="separator:a1dd20bb574075df904e1878f2e771ef9 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb391b692c561df0a54c413785e4ebd0 inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#afb391b692c561df0a54c413785e4ebd0">setBaseFlags</a> (<a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> inFlags)</td></tr>
<tr class="memdesc:afb391b692c561df0a54c413785e4ebd0 inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set PxBaseFlags.  <a href="classPxBase.html#afb391b692c561df0a54c413785e4ebd0">More...</a><br /></td></tr>
<tr class="separator:afb391b692c561df0a54c413785e4ebd0 inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9b10efae7733ff9c8b8d3b7d90a9a5f inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#ad9b10efae7733ff9c8b8d3b7d90a9a5f">getBaseFlags</a> () const</td></tr>
<tr class="memdesc:ad9b10efae7733ff9c8b8d3b7d90a9a5f inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns PxBaseFlags.  <a href="classPxBase.html#ad9b10efae7733ff9c8b8d3b7d90a9a5f">More...</a><br /></td></tr>
<tr class="separator:ad9b10efae7733ff9c8b8d3b7d90a9a5f inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38952fcb80e99f1f5dbf774a75ac2c3d inherit pub_methods_classPxBase"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a38952fcb80e99f1f5dbf774a75ac2c3d">isReleasable</a> () const</td></tr>
<tr class="memdesc:a38952fcb80e99f1f5dbf774a75ac2c3d inherit pub_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether the object is subordinate.  <a href="classPxBase.html#a38952fcb80e99f1f5dbf774a75ac2c3d">More...</a><br /></td></tr>
<tr class="separator:a38952fcb80e99f1f5dbf774a75ac2c3d inherit pub_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a3202bc9b19b72c88c7ea32421dce3cc9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a3202bc9b19b72c88c7ea32421dce3cc9">PxArticulationReducedCoordinate</a> (<a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
<tr class="separator:a3202bc9b19b72c88c7ea32421dce3cc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51b6d2bcecd81b268219e7a5d1d8f10c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a51b6d2bcecd81b268219e7a5d1d8f10c">PxArticulationReducedCoordinate</a> (<a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
<tr class="separator:a51b6d2bcecd81b268219e7a5d1d8f10c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a6a5ea9fbce5fab1389809cde5ce12a"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationReducedCoordinate.html#a1a6a5ea9fbce5fab1389809cde5ce12a">~PxArticulationReducedCoordinate</a> ()</td></tr>
<tr class="separator:a1a6a5ea9fbce5fab1389809cde5ce12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classPxArticulationBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classPxArticulationBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classPxArticulationBase.html">PxArticulationBase</a></td></tr>
<tr class="memitem:abdd331a2b48fd30ad35af280772996d9 inherit pro_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#abdd331a2b48fd30ad35af280772996d9">PxArticulationBase</a> (<a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
<tr class="separator:abdd331a2b48fd30ad35af280772996d9 inherit pro_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a07f4354244d4d6dbc0adec96ccf2ab85 inherit pro_methods_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#a07f4354244d4d6dbc0adec96ccf2ab85">PxArticulationBase</a> (<a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
<tr class="separator:a07f4354244d4d6dbc0adec96ccf2ab85 inherit pro_methods_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classPxBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classPxBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classPxBase.html">PxBase</a></td></tr>
<tr class="memitem:a263f1ef821c74058ce9335e06cb842a4 inherit pro_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a263f1ef821c74058ce9335e06cb842a4">PxBase</a> (<a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
<tr class="memdesc:a263f1ef821c74058ce9335e06cb842a4 inherit pro_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor setting concrete type and base flags.  <a href="classPxBase.html#a263f1ef821c74058ce9335e06cb842a4">More...</a><br /></td></tr>
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<tr class="memitem:a58b979202e7382701f74977fe3dd5c6f inherit pro_methods_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a58b979202e7382701f74977fe3dd5c6f">PxBase</a> (<a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a> baseFlags)</td></tr>
<tr class="memdesc:a58b979202e7382701f74977fe3dd5c6f inherit pro_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialization constructor setting base flags.  <a href="classPxBase.html#a58b979202e7382701f74977fe3dd5c6f">More...</a><br /></td></tr>
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<tr class="memitem:adfbf62dc32775b068db1c74c7fd3d982 inherit pro_methods_classPxBase"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#adfbf62dc32775b068db1c74c7fd3d982">~PxBase</a> ()</td></tr>
<tr class="memdesc:adfbf62dc32775b068db1c74c7fd3d982 inherit pro_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="classPxBase.html#adfbf62dc32775b068db1c74c7fd3d982">More...</a><br /></td></tr>
<tr class="separator:adfbf62dc32775b068db1c74c7fd3d982 inherit pro_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addfc067afca2f67bda6c497b14424962 inherit pro_methods_classPxBase"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#addfc067afca2f67bda6c497b14424962">isKindOf</a> (const char *superClass) const</td></tr>
<tr class="memdesc:addfc067afca2f67bda6c497b14424962 inherit pro_methods_classPxBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether a given type name matches with the type of this instance.  <a href="classPxBase.html#addfc067afca2f67bda6c497b14424962">More...</a><br /></td></tr>
<tr class="separator:addfc067afca2f67bda6c497b14424962 inherit pro_methods_classPxBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3782ca64c8f12c41443f604e300fc207 inherit pro_methods_classPxBase"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
<tr class="memitem:a3782ca64c8f12c41443f604e300fc207 inherit pro_methods_classPxBase"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classPxBase.html#a3782ca64c8f12c41443f604e300fc207">typeMatch</a> () const</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_attribs_classPxArticulationBase"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classPxArticulationBase')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classPxArticulationBase.html">PxArticulationBase</a></td></tr>
<tr class="memitem:ae8ee210b8b3867a8a0803875c6e53014 inherit pub_attribs_classPxArticulationBase"><td class="memItemLeft" align="right" valign="top">void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationBase.html#ae8ee210b8b3867a8a0803875c6e53014">userData</a></td></tr>
<tr class="memdesc:ae8ee210b8b3867a8a0803875c6e53014 inherit pub_attribs_classPxArticulationBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">user can assign this to whatever, usually to create a 1:1 relationship with a user object.  <a href="classPxArticulationBase.html#ae8ee210b8b3867a8a0803875c6e53014">More...</a><br /></td></tr>
<tr class="separator:ae8ee210b8b3867a8a0803875c6e53014 inherit pub_attribs_classPxArticulationBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classPxBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classPxBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classPxBase.html">PxBase</a></td></tr>
<tr class="memitem:a1abe9d19726e1f8f8e56abeb2269b5d4 inherit pro_attribs_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#a1abe9d19726e1f8f8e56abeb2269b5d4">mConcreteType</a></td></tr>
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<tr class="memitem:aff7105f65905ecb9f6f7993ba28b712d inherit pro_attribs_classPxBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxBase.html#aff7105f65905ecb9f6f7993ba28b712d">mBaseFlags</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver </p>
<p>Articulations are more expensive to simulate than the equivalent collection of <a class="el" href="classPxRigidDynamic.html" title="PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK. ">PxRigidDynamic</a> and <a class="el" href="classPxJoint.html" title="a base interface providing common functionality for PhysX joints ">PxJoint</a> structures, but because the dynamics solver treats each articulation as a single object, they are much less prone to separation and have better support for actuation. An articulation may have at most 64 links.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationJoint.html" title="a joint between two links in an articulation. ">PxArticulationJoint</a> <a class="el" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body ">PxArticulationLink</a> <a class="el" href="classPxPhysics.html#aa65bf245c40886f007b7cda86dee9f3f" title="Creates an articulation with all fields initialized to their default values. ">PxPhysics.createArticulation</a> </dd></dl>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a3202bc9b19b72c88c7ea32421dce3cc9">&#9670;&nbsp;</a></span>PxArticulationReducedCoordinate() <span class="overload">[1/2]</span></h2>

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          <td class="memname"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> PxArticulationReducedCoordinate::PxArticulationReducedCoordinate </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a>&#160;</td>
          <td class="paramname"><em>concreteType</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a>&#160;</td>
          <td class="paramname"><em>baseFlags</em>&#160;</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a51b6d2bcecd81b268219e7a5d1d8f10c">&#9670;&nbsp;</a></span>PxArticulationReducedCoordinate() <span class="overload">[2/2]</span></h2>

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          <td class="memname"><a class="el" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> PxArticulationReducedCoordinate::PxArticulationReducedCoordinate </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__common.html#ga1e3721588799f5fbb18d76e4aab7d018">PxBaseFlags</a>&#160;</td>
          <td class="paramname"><em>baseFlags</em></td><td>)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a1a6a5ea9fbce5fab1389809cde5ce12a">&#9670;&nbsp;</a></span>~PxArticulationReducedCoordinate()</h2>

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          <td class="memname">virtual PxArticulationReducedCoordinate::~PxArticulationReducedCoordinate </td>
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          <td class="paramname"></td><td>)</td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a0d9eeb50991fab399d0d7dbe756c1106">&#9670;&nbsp;</a></span>addLoopJoint()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::addLoopJoint </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxJoint.html">PxJoint</a> *&#160;</td>
          <td class="paramname"><em>joint</em></td><td>)</td>
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<p>add loop joint to the articulation system for inverse dynamic </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">joint</td><td>required to add loop joint</td></tr>
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  </dd>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab14e3d8440c6dc754fa3318a7c91991d">&#9670;&nbsp;</a></span>applyCache()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::applyCache </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a">PxArticulationCacheFlags</a>&#160;</td>
          <td class="paramname"><em>flag</em>, </td>
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          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>autowake</em> = <code>true</code>&#160;</td>
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          <td>)</td>
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<p>apply the user defined data in the cache to the articulation system </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cache</td><td>articulation data. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">flag</td><td>The mode to use when determine which value in the cache will be applied to the articulation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">autowake</td><td>Specify if the call should wake up the articulation if it is currently asleep. If true and the current wake counter value is smaller than <a class="el" href="classPxSceneDesc.html#a79e2c9c06f711272a48d7f07451117b7" title="The wake counter reset value. ">PxSceneDesc::wakeCounterResetValue</a> it will get increased to the reset value.</td></tr>
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  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#a99f7f83876a3414eb386c83e173f9364" title="create an articulation cache ">createCache</a> <a class="el" href="classPxArticulationReducedCoordinate.html#a10773e54bc023d0a4c6627c363fe1b23" title="copy the internal data of the articulation to the cache ">copyInternalStateToCache</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#abe5b98d8b80aa4781ad1d5e9baffad25">&#9670;&nbsp;</a></span>commonInit()</h2>

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<p>initialize all the common data for inverse dynamics </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0eb36b4e092c322893c811f1e7c85b4d">&#9670;&nbsp;</a></span>computeCoefficientMatrix()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::computeCoefficientMatrix </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td> const</td>
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<p>compute the coefficient matrix for contact force. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">cache</td><td>returns the coefficient matrix. Each column is the joint force effected by a contact based on impulse strength 1 </td></tr>
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  </dd>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#af1947172f99feef066872b12d675d046">&#9670;&nbsp;</a></span>computeCoriolisAndCentrifugalForce()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::computeCoriolisAndCentrifugalForce </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td> const</td>
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<p>determine coriolise and centrifugal force. External force, gravity and joint acceleration are set to zero, the joint force return will be coriolise and centrifugal force for each joint. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cache</td><td>data</td></tr>
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  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a08a58ac2a98d339c0fcab0e69f6761e0">&#9670;&nbsp;</a></span>computeDenseJacobian()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::computeDenseJacobian </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> &amp;&#160;</td>
          <td class="paramname"><em>nRows</em>, </td>
        </tr>
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          <td></td>
          <td class="paramtype"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> &amp;&#160;</td>
          <td class="paramname"><em>nCols</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>compute the dense Jacobian for the entire articulation in world space </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cache</td><td>sets cache.denseJacobian matrix. The matrix is indexed [nCols * row + column]. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">nRows</td><td>set to number of rows in matrix, which corresponds to the number of articulation links times 6. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">nCols</td><td>set to number of columns in matrix, which corresponds to the number of joint DOFs, plus 6 in the case eFIX_BASE is false.</td></tr>
  </table>
  </dd>
</dl>
<p>Note that this computes the dense representation of an inherently sparse matrix. Multiplication with this matrix maps joint space velocities to 6DOF world space linear and angular velocities. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a95e6f19bc92d7003e4d735a26b6ebb46">&#9670;&nbsp;</a></span>computeGeneralizedExternalForce()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::computeGeneralizedExternalForce </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td> const</td>
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<p>determine joint force change caused by external force. Gravity, joint acceleration and joint velocity are all set to zero. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cache</td><td>data</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#af8b5217bd48e6d1ccc8ba3e495c66df7">&#9670;&nbsp;</a></span>computeGeneralizedGravityForce()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::computeGeneralizedGravityForce </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td> const</td>
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<p>determine the statically balance of the joint force of gravity for entire articulation. External force, joint velocity and joint acceleration are set to zero, the joint force returned will be purely determined by gravity. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">cache</td><td>return joint forces which can counteract gravity force</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a92e7a37bc7b058364398265b80996607">&#9670;&nbsp;</a></span>computeGeneralizedMassMatrix()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::computeGeneralizedMassMatrix </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td> const</td>
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<p>compute the joint-space inertia matrix </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cache</td><td>articulation data</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#afc82b045f2afb76484ea967515c01067">&#9670;&nbsp;</a></span>computeJointAcceleration()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::computeJointAcceleration </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td> const</td>
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<p>determine the joint acceleration for each joint This is purely calculates the change in joint acceleration due to change in the joint force </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cache</td><td>articulation data</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a408e219bfac920e7cf527c6a7c972674">&#9670;&nbsp;</a></span>computeJointForce()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::computeJointForce </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td> const</td>
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<p>determine the joint force This is purely calculates the change in joint force due to change in the joint acceleration This means gravity and joint velocity will be zero </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cache</td><td>return joint force</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a06a554a20844b28a9251e60ca69ebac5">&#9670;&nbsp;</a></span>computeLambda()</h2>

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          <td class="memname">virtual bool PxArticulationReducedCoordinate::computeLambda </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>initialState</em>, </td>
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          <td></td>
          <td class="paramtype">const PxReal *const&#160;</td>
          <td class="paramname"><em>jointTorque</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td>
          <td class="paramname"><em>maxIter</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>compute the lambda value when the test impulse is 1 </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">initialState</td><td>the initial state of the articulation system </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">jointTorque</td><td>M(q)*qddot + C(q,qdot) + g(q) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">maxIter</td><td>maximum number of solver iterations to run. If the system converges, fewer iterations may be used. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cache</td><td>returns the coefficient matrix. Each column is the joint force effected by a contact based on impulse strength 1 </td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a10773e54bc023d0a4c6627c363fe1b23">&#9670;&nbsp;</a></span>copyInternalStateToCache()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::copyInternalStateToCache </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a">PxArticulationCacheFlags</a>&#160;</td>
          <td class="paramname"><em>flag</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>copy the internal data of the articulation to the cache </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cache</td><td>articulation data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">flag</td><td>this indicates what kind of data the articulation system need to copy to the cache</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#a99f7f83876a3414eb386c83e173f9364" title="create an articulation cache ">createCache</a> <a class="el" href="classPxArticulationReducedCoordinate.html#ab14e3d8440c6dc754fa3318a7c91991d" title="apply the user defined data in the cache to the articulation system ">applyCache</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a99f7f83876a3414eb386c83e173f9364">&#9670;&nbsp;</a></span>createCache()</h2>

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          <td class="memname">virtual <a class="el" href="classPxArticulationCache.html">PxArticulationCache</a>* PxArticulationReducedCoordinate::createCache </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>create an articulation cache </p>
<dl class="section note"><dt>Note</dt><dd>this call may only be made on articulations that are in a scene, and may not be made during simulation </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a3e8a26a6e87d34c31441d766b0d6a153">&#9670;&nbsp;</a></span>getArticulationFlags()</h2>

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          <td class="memname">virtual <a class="el" href="PxSolverDefs_8h.html#a40a321fce7bcb9669d32fca769d2958a">PxArticulationFlags</a> PxArticulationReducedCoordinate::getArticulationFlags </td>
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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>return PxArticulationFlags </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a86107c6d84d3132b6a46bb9b2b48666e">&#9670;&nbsp;</a></span>getCacheDataSize()</h2>

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          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Get the size of the articulation cache. </p>
<dl class="section note"><dt>Note</dt><dd>this call may only be made on articulations that are in a scene, and may not be made during simulation </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a54da9e7775e8b619d5172039213beaff">&#9670;&nbsp;</a></span>getCoefficientMatrixSize()</h2>

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          <td class="paramname"></td><td>)</td>
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<p>returns the required size of coeffient matrix in the articulation. The coefficient matrix is number of constraint(loop joints) by total dofs. Constraint Torque = transpose(K) * lambda(). Lambda is a vector of number of constraints </p>
<dl class="section return"><dt>Returns</dt><dd>bite size of the coefficient matrix(nc * n) </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a4d0ed61a1f9a2b2cd18ced0cf9122355">&#9670;&nbsp;</a></span>getDofs()</h2>

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          <td class="memname">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> PxArticulationReducedCoordinate::getDofs </td>
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<p>returns the total Dofs of the articulation </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab51ab4c2ab36f1b409a1aa0468f0fe71">&#9670;&nbsp;</a></span>getLinkAcceleration()</h2>

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          <td class="memname">virtual <a class="el" href="structPxSpatialVelocity.html">PxSpatialVelocity</a> PxArticulationReducedCoordinate::getLinkAcceleration </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td>
          <td class="paramname"><em>linkId</em></td><td>)</td>
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<p>return the link acceleration in world space with the associated low-level link index(getLinkIndex()) </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">linkId</td><td>low-level link index</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd>getLinkIndex() in <a class="el" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body ">PxArticulationLink</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a4520151744be7de9835c9f90291468c3">&#9670;&nbsp;</a></span>getLinkVelocity()</h2>

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          <td class="memname">virtual <a class="el" href="structPxSpatialVelocity.html">PxSpatialVelocity</a> PxArticulationReducedCoordinate::getLinkVelocity </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td>
          <td class="paramname"><em>linkId</em></td><td>)</td>
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<p>return the link velocity in world space with the associated low-level link index(getLinkIndex()). </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">linkId</td><td>low-level link index</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd>getLinkIndex() in <a class="el" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body ">PxArticulationLink</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a5a611783b278756d562f4dfe0626af18">&#9670;&nbsp;</a></span>getLoopJoints()</h2>

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          <td class="memname">virtual <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> PxArticulationReducedCoordinate::getLoopJoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxJoint.html">PxJoint</a> **&#160;</td>
          <td class="paramname"><em>userBuffer</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td>
          <td class="paramname"><em>bufferSize</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td>
          <td class="paramname"><em>startIndex</em> = <code>0</code>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>returns the set of loop constraints in the articulation </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">userBuffer</td><td>buffer into which to write an array of constraints pointers </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">bufferSize</td><td>the size of the buffer. If this is not large enough to contain all the pointers to links, only as many as will fit are written. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">startIndex</td><td>Index of first link pointer to be retrieved</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the number of links written into the buffer.</dd></dl>
<dl class="section see"><dt>See also</dt><dd>ArticulationLink </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aa89014cf296753fd9ddffbd62ef46c4c">&#9670;&nbsp;</a></span>getNbLoopJoints()</h2>

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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>returns the number of loop joints in the articulation </p>
<dl class="section return"><dt>Returns</dt><dd>number of loop joints </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a32973e41c51f9dd6ed0168c401d620d7">&#9670;&nbsp;</a></span>packJointData()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::packJointData </td>
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          <td class="paramtype">const PxReal *&#160;</td>
          <td class="paramname"><em>maximum</em>, </td>
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          <td class="paramtype">PxReal *&#160;</td>
          <td class="paramname"><em>reduced</em>&#160;</td>
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<p>reduce the maximum data format to the reduced internal data </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">maximum</td><td>joint data format </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">reduced</td><td>joint data format </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a15d00fc95ae61c2906977453e7597d9b">&#9670;&nbsp;</a></span>release()</h2>

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<p>Releases the <a class="el" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection. ">PxBase</a> instance, please check documentation of release in derived class. </p>

<p>Implements <a class="el" href="classPxBase.html#afe6aedda1df0d6d29b1a28213a5ee25a">PxBase</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae3b3c188ffd64c4ba7cfd7508efd63bf">&#9670;&nbsp;</a></span>releaseCache()</h2>

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          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td> const</td>
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<p>release an articulation cache </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cache</td><td>the cache to release</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#a99f7f83876a3414eb386c83e173f9364" title="create an articulation cache ">createCache</a> <a class="el" href="classPxArticulationReducedCoordinate.html#ab14e3d8440c6dc754fa3318a7c91991d" title="apply the user defined data in the cache to the articulation system ">applyCache</a> <a class="el" href="classPxArticulationReducedCoordinate.html#a10773e54bc023d0a4c6627c363fe1b23" title="copy the internal data of the articulation to the cache ">copyInternalStateToCache</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a024c2e5000ad1033a868a73b6a025c03">&#9670;&nbsp;</a></span>removeLoopJoint()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::removeLoopJoint </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxJoint.html">PxJoint</a> *&#160;</td>
          <td class="paramname"><em>joint</em></td><td>)</td>
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<p>remove loop joint from the articulation system </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">joint</td><td>required to remove loop joint</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aea7152a77f9446960d65359e482595c4">&#9670;&nbsp;</a></span>setArticulationFlag()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::setArticulationFlag </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609">PxArticulationFlag::Enum</a>&#160;</td>
          <td class="paramname"><em>flag</em>, </td>
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          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>value</em>&#160;</td>
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<p>Raises or clears a flag on the articulation. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">flag</td><td>The articulation flag </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">value</td><td>true/false indicating whether to raise or clear the flag </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab155a21325dd588b7e354d3a5b1ef564">&#9670;&nbsp;</a></span>setArticulationFlags()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::setArticulationFlags </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="PxSolverDefs_8h.html#a40a321fce7bcb9669d32fca769d2958a">PxArticulationFlags</a>&#160;</td>
          <td class="paramname"><em>flags</em></td><td>)</td>
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<p>Sets flags on the articulation. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">flags</td><td>Articulation flags </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a2d067a41dc5bcbbdbf9a298d9064b310">&#9670;&nbsp;</a></span>teleportRootLink()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::teleportRootLink </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classPxTransform.html">PxTransform</a> &amp;&#160;</td>
          <td class="paramname"><em>pose</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>autowake</em>&#160;</td>
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          <td></td>
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          <td></td><td></td>
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<p>teleport root link to a new location </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pose</td><td>the new location of the root link </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">autowake</td><td>wake up the articulation system</td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxArticulationReducedCoordinate.html#abe5b98d8b80aa4781ad1d5e9baffad25" title="initialize all the common data for inverse dynamics ">commonInit</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a10d36a5ac6bb414b2240774cabdc4695">&#9670;&nbsp;</a></span>unpackJointData()</h2>

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          <td>(</td>
          <td class="paramtype">const PxReal *&#160;</td>
          <td class="paramname"><em>reduced</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PxReal *&#160;</td>
          <td class="paramname"><em>maximum</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>turn the reduced internal data to maximum joint data format </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">reduced</td><td>joint data format </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">maximum</td><td>joint data format </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a919526ace70d5aaa4fb34ad0fcc98fd0">&#9670;&nbsp;</a></span>zeroCache()</h2>

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          <td class="memname">virtual void PxArticulationReducedCoordinate::zeroCache </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPxArticulationCache.html">PxArticulationCache</a> &amp;&#160;</td>
          <td class="paramname"><em>cache</em></td><td>)</td>
          <td></td>
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<p>zero all data in the articulation cache beside the cache version </p>
<dl class="section note"><dt>Note</dt><dd>this call may only be made on articulations that are in a scene, and may not be made during simulation </dd></dl>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="PxArticulationReducedCoordinate_8h_source.html">PxArticulationReducedCoordinate.h</a></li>
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